diff options
Diffstat (limited to 'extern/bullet2/src/LinearMath/btMatrix3x3.h')
| -rw-r--r-- | extern/bullet2/src/LinearMath/btMatrix3x3.h | 31 |
1 files changed, 18 insertions, 13 deletions
diff --git a/extern/bullet2/src/LinearMath/btMatrix3x3.h b/extern/bullet2/src/LinearMath/btMatrix3x3.h index d4f5c95aa64..14fe704f81a 100644 --- a/extern/bullet2/src/LinearMath/btMatrix3x3.h +++ b/extern/bullet2/src/LinearMath/btMatrix3x3.h @@ -22,10 +22,15 @@ subject to the following restrictions: #ifdef BT_USE_SSE //const __m128 ATTRIBUTE_ALIGNED16(v2220) = {2.0f, 2.0f, 2.0f, 0.0f}; -const __m128 ATTRIBUTE_ALIGNED16(vMPPP) = {-0.0f, +0.0f, +0.0f, +0.0f}; +//const __m128 ATTRIBUTE_ALIGNED16(vMPPP) = {-0.0f, +0.0f, +0.0f, +0.0f}; +#define vMPPP (_mm_set_ps (+0.0f, +0.0f, +0.0f, -0.0f)) #endif -#if defined(BT_USE_SSE) || defined(BT_USE_NEON) +#if defined(BT_USE_SSE) +#define v1000 (_mm_set_ps(0.0f,0.0f,0.0f,1.0f)) +#define v0100 (_mm_set_ps(0.0f,0.0f,1.0f,0.0f)) +#define v0010 (_mm_set_ps(0.0f,1.0f,0.0f,0.0f)) +#elif defined(BT_USE_NEON) const btSimdFloat4 ATTRIBUTE_ALIGNED16(v1000) = {1.0f, 0.0f, 0.0f, 0.0f}; const btSimdFloat4 ATTRIBUTE_ALIGNED16(v0100) = {0.0f, 1.0f, 0.0f, 0.0f}; const btSimdFloat4 ATTRIBUTE_ALIGNED16(v0010) = {0.0f, 0.0f, 1.0f, 0.0f}; @@ -207,7 +212,7 @@ public: btFullAssert(d != btScalar(0.0)); btScalar s = btScalar(2.0) / d; - #if defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE) + #if defined BT_USE_SIMD_VECTOR3 && defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE) __m128 vs, Q = q.get128(); __m128i Qi = btCastfTo128i(Q); __m128 Y, Z; @@ -341,7 +346,7 @@ public: * @param m The array to be filled */ void getOpenGLSubMatrix(btScalar *m) const { -#if defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE) +#if defined BT_USE_SIMD_VECTOR3 && defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE) __m128 v0 = m_el[0].mVec128; __m128 v1 = m_el[1].mVec128; __m128 v2 = m_el[2].mVec128; // x2 y2 z2 w2 @@ -362,7 +367,7 @@ public: vm[2] = v2; #elif defined(BT_USE_NEON) // note: zeros the w channel. We can preserve it at the cost of two more vtrn instructions. - static const uint32x2_t zMask = (const uint32x2_t) {-1, 0 }; + static const uint32x2_t zMask = (const uint32x2_t) {static_cast<uint32_t>(-1), 0 }; float32x4_t *vm = (float32x4_t *)m; float32x4x2_t top = vtrnq_f32( m_el[0].mVec128, m_el[1].mVec128 ); // {x0 x1 z0 z1}, {y0 y1 w0 w1} float32x2x2_t bl = vtrn_f32( vget_low_f32(m_el[2].mVec128), vdup_n_f32(0.0f) ); // {x2 0 }, {y2 0} @@ -740,7 +745,7 @@ public: SIMD_FORCE_INLINE btMatrix3x3& btMatrix3x3::operator*=(const btMatrix3x3& m) { -#if defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE) +#if defined BT_USE_SIMD_VECTOR3 && defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE) __m128 rv00, rv01, rv02; __m128 rv10, rv11, rv12; __m128 rv20, rv21, rv22; @@ -953,7 +958,7 @@ btMatrix3x3::determinant() const SIMD_FORCE_INLINE btMatrix3x3 btMatrix3x3::absolute() const { -#if (defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE)) +#if defined BT_USE_SIMD_VECTOR3 && (defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE)) return btMatrix3x3( _mm_and_ps(m_el[0].mVec128, btvAbsfMask), _mm_and_ps(m_el[1].mVec128, btvAbsfMask), @@ -974,7 +979,7 @@ btMatrix3x3::absolute() const SIMD_FORCE_INLINE btMatrix3x3 btMatrix3x3::transpose() const { -#if (defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE)) +#if defined BT_USE_SIMD_VECTOR3 && (defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE)) __m128 v0 = m_el[0].mVec128; __m128 v1 = m_el[1].mVec128; __m128 v2 = m_el[2].mVec128; // x2 y2 z2 w2 @@ -993,7 +998,7 @@ btMatrix3x3::transpose() const return btMatrix3x3( v0, v1, v2 ); #elif defined(BT_USE_NEON) // note: zeros the w channel. We can preserve it at the cost of two more vtrn instructions. - static const uint32x2_t zMask = (const uint32x2_t) {-1, 0 }; + static const uint32x2_t zMask = (const uint32x2_t) {static_cast<uint32_t>(-1), 0 }; float32x4x2_t top = vtrnq_f32( m_el[0].mVec128, m_el[1].mVec128 ); // {x0 x1 z0 z1}, {y0 y1 w0 w1} float32x2x2_t bl = vtrn_f32( vget_low_f32(m_el[2].mVec128), vdup_n_f32(0.0f) ); // {x2 0 }, {y2 0} float32x4_t v0 = vcombine_f32( vget_low_f32(top.val[0]), bl.val[0] ); @@ -1031,7 +1036,7 @@ btMatrix3x3::inverse() const SIMD_FORCE_INLINE btMatrix3x3 btMatrix3x3::transposeTimes(const btMatrix3x3& m) const { -#if (defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE)) +#if defined BT_USE_SIMD_VECTOR3 && (defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE)) // zeros w // static const __m128i xyzMask = (const __m128i){ -1ULL, 0xffffffffULL }; __m128 row = m_el[0].mVec128; @@ -1053,7 +1058,7 @@ btMatrix3x3::transposeTimes(const btMatrix3x3& m) const #elif defined BT_USE_NEON // zeros w - static const uint32x4_t xyzMask = (const uint32x4_t){ -1, -1, -1, 0 }; + static const uint32x4_t xyzMask = (const uint32x4_t){ static_cast<uint32_t>(-1), static_cast<uint32_t>(-1), static_cast<uint32_t>(-1), 0 }; float32x4_t m0 = (float32x4_t) vandq_u32( (uint32x4_t) m.getRow(0).mVec128, xyzMask ); float32x4_t m1 = (float32x4_t) vandq_u32( (uint32x4_t) m.getRow(1).mVec128, xyzMask ); float32x4_t m2 = (float32x4_t) vandq_u32( (uint32x4_t) m.getRow(2).mVec128, xyzMask ); @@ -1151,7 +1156,7 @@ operator*(const btMatrix3x3& m, const btVector3& v) SIMD_FORCE_INLINE btVector3 operator*(const btVector3& v, const btMatrix3x3& m) { -#if (defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE)) +#if defined BT_USE_SIMD_VECTOR3 && (defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE)) const __m128 vv = v.mVec128; @@ -1191,7 +1196,7 @@ operator*(const btVector3& v, const btMatrix3x3& m) SIMD_FORCE_INLINE btMatrix3x3 operator*(const btMatrix3x3& m1, const btMatrix3x3& m2) { -#if (defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE)) +#if defined BT_USE_SIMD_VECTOR3 && (defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE)) __m128 m10 = m1[0].mVec128; __m128 m11 = m1[1].mVec128; |